| 引用本文: | 胡斌斌,张海涛.依赖方位角测量的多智能体系统事件触发协同定位(英文)[J].控制理论与应用,2021,38(11):1845~1854.[点击复制] |
| HU Bin-bin,ZHANG Hai-tao.Bearing-based localization of multi-agent system with event-triggered strategy[J].Control Theory and Technology,2021,38(11):1845~1854.[点击复制] |
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| 依赖方位角测量的多智能体系统事件触发协同定位(英文) |
| Bearing-based localization of multi-agent system with event-triggered strategy |
| 摘要点击 1494 全文点击 440 投稿时间：2021-08-21 修订日期：2021-11-27 |
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| DOI编号 10.7641/CTA.2021.10766 |
| 2021,38(11):1845-1854 |
| 中文关键词 定位 方位角刚度 事件驱动控制 多智能体系统 |
| 英文关键词 localization bearing rigidity event-triggered control multi-agent system |
| 基金项目 国家自然科学基金 51729501, U1713203,湖北省自然科学基金 2019CFA005. |
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| 中文摘要 |
| 论文提出了一种基于事件的方案来实现三维空间多智能体系统的方位定位. 依赖方位角刚度设计了一种事件
触发的定位方法, 该方法在少数个体方位角已知的前提下, 可以对集群网络中所有个体进行定位. 为了保障方法的有效
性, 利用输入到状态的稳定原理, 得到了上述闭环控制系统的稳定性条件, 并且理论保证Zeno行为不发生. 最后, 通过二
维和三维的数值仿真验证了所提出的多智能体系统事件触发定位控制方案的有效性. |
| 英文摘要 |
| This paper develops an event-based scheme to attain bearing-based localization of multi-agent system in
arbitrary dimension. Essentially, an event-triggered localization law is designed accordingly to the bearing rigidity, which
is to localize all the agents in a static network given the bearings of a subset of agents. The conditions guaranteeing
asymptotically stability of the closed-loop MAS governed by the proposed controller are derived with the assistance of
input-to-state stable (ISS) principle. Significantly, Zeno behavior is excluded as well. Finally, 2-D and 3-D numerical
simulations are conducted to substantiate the effectiveness of the proposed event-triggered localization control scheme. |